EP3984848A4 - Vehicle travel control method and travel control device - Google Patents

Vehicle travel control method and travel control device Download PDF

Info

Publication number
EP3984848A4
EP3984848A4 EP19932257.9A EP19932257A EP3984848A4 EP 3984848 A4 EP3984848 A4 EP 3984848A4 EP 19932257 A EP19932257 A EP 19932257A EP 3984848 A4 EP3984848 A4 EP 3984848A4
Authority
EP
European Patent Office
Prior art keywords
travel control
control device
control method
vehicle
vehicle travel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19932257.9A
Other languages
German (de)
French (fr)
Other versions
EP3984848B1 (en
EP3984848A1 (en
Inventor
Hiroki Taniguchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Publication of EP3984848A1 publication Critical patent/EP3984848A1/en
Publication of EP3984848A4 publication Critical patent/EP3984848A4/en
Application granted granted Critical
Publication of EP3984848B1 publication Critical patent/EP3984848B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP19932257.9A 2019-06-14 2019-06-14 Vehicle travel control method and travel control device Active EP3984848B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000625 WO2020249993A1 (en) 2019-06-14 2019-06-14 Vehicle travel control method and travel control device

Publications (3)

Publication Number Publication Date
EP3984848A1 EP3984848A1 (en) 2022-04-20
EP3984848A4 true EP3984848A4 (en) 2022-08-03
EP3984848B1 EP3984848B1 (en) 2023-04-26

Family

ID=73781157

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19932257.9A Active EP3984848B1 (en) 2019-06-14 2019-06-14 Vehicle travel control method and travel control device

Country Status (5)

Country Link
US (1) US11524704B2 (en)
EP (1) EP3984848B1 (en)
JP (1) JP7314995B2 (en)
CN (1) CN114206699A (en)
WO (1) WO2020249993A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7400508B2 (en) * 2020-02-03 2023-12-19 株式会社デンソー Trajectory generation device, trajectory generation method, trajectory generation program
JP7388390B2 (en) * 2021-04-14 2023-11-29 トヨタ自動車株式会社 Location information acquisition system, location information acquisition method
US11925132B2 (en) * 2021-06-30 2024-03-12 Deere & Company Methods, apparatus, and articles of manufacture to generate acquisition paths
CN114771565A (en) * 2022-04-08 2022-07-22 合众新能源汽车有限公司 Right turn control method and device for automatic driving vehicle, vehicle and storage medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160304097A1 (en) * 2015-04-20 2016-10-20 Toyota Jidosha Kabushiki Kaisha Vehicle traveling control device
WO2017047261A1 (en) * 2015-09-17 2017-03-23 日立オートモティブシステムズ株式会社 Lane change control device
US20180129206A1 (en) * 2016-11-07 2018-05-10 Honda Motor Co., Ltd Vehicle control device
US20180162396A1 (en) * 2016-12-08 2018-06-14 Honda Motor Co., Ltd. Vehicle control device

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3520691B2 (en) * 1996-09-30 2004-04-19 株式会社日立製作所 Mobile control system
JP2006252533A (en) 2005-02-08 2006-09-21 Matsushita Electric Ind Co Ltd Navigation system and its terminal device, center device, queue detecting method, program for carrying out the same, and recording medium recording the program
JP5551410B2 (en) * 2009-10-26 2014-07-16 Ｉｈｉ運搬機械株式会社 Car parking system for vehicles with self-propelled function
JP6547434B2 (en) 2015-06-15 2019-07-24 日産自動車株式会社 Stop position setting apparatus and method
US20200317219A1 (en) * 2016-05-31 2020-10-08 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and vehicle control program
JP6721054B2 (en) 2016-10-13 2020-07-08 日産自動車株式会社 Vehicle protrusion determination method and vehicle protrusion determination device
JP7043295B2 (en) * 2018-03-07 2022-03-29 本田技研工業株式会社 Vehicle control devices, vehicle control methods, and programs
JP7151185B2 (en) * 2018-06-06 2022-10-12 株式会社デンソー vehicle controller
GB2579020B (en) * 2018-11-14 2021-05-12 Jaguar Land Rover Ltd Vehicle control system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160304097A1 (en) * 2015-04-20 2016-10-20 Toyota Jidosha Kabushiki Kaisha Vehicle traveling control device
WO2017047261A1 (en) * 2015-09-17 2017-03-23 日立オートモティブシステムズ株式会社 Lane change control device
US20180129206A1 (en) * 2016-11-07 2018-05-10 Honda Motor Co., Ltd Vehicle control device
US20180162396A1 (en) * 2016-12-08 2018-06-14 Honda Motor Co., Ltd. Vehicle control device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2020249993A1 *

Also Published As

Publication number Publication date
JPWO2020249993A1 (en) 2020-12-17
EP3984848B1 (en) 2023-04-26
EP3984848A1 (en) 2022-04-20
CN114206699A (en) 2022-03-18
US11524704B2 (en) 2022-12-13
JP7314995B2 (en) 2023-07-26
WO2020249993A1 (en) 2020-12-17
US20220204053A1 (en) 2022-06-30

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